CN114644189A - Compact structure's multi-functional intelligent shuttle robot - Google Patents
Compact structure's multi-functional intelligent shuttle robot Download PDFInfo
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- CN114644189A CN114644189A CN202210388654.0A CN202210388654A CN114644189A CN 114644189 A CN114644189 A CN 114644189A CN 202210388654 A CN202210388654 A CN 202210388654A CN 114644189 A CN114644189 A CN 114644189A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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Abstract
The invention discloses a multifunctional intelligent shuttle robot with a compact structure, belonging to the technical field of shuttle vehicles, and comprising a vehicle body, a plurality of first driving wheels, a plurality of second driving wheels, a plurality of groups of jacking turbine mechanisms, a telescopic arm mechanism and two groups of driving mechanisms; the plurality of groups of jacking turbine mechanisms are respectively arranged at four corners of the vehicle body and are symmetrically distributed; the driving mechanism drives the first driving wheel and the second driving wheel to rotate, the driving mechanism drives the jacking turbine mechanism to lift, so that the vehicle body has four-way movement and lifting functions, the use requirement of carrying a material box is met, meanwhile, the telescopic arm mechanism is arranged on the vehicle body, the goods taking arm body moves along the linear direction and extends out of one side of the vehicle body under the action of the second motor, and the goods taking arm body can be inserted into the tray, so that the use requirement of carrying the tray is met, the shuttle vehicle can be suitable for different goods shelf systems, and the universality is high.
Description
Technical Field
The invention belongs to the technical field of shuttle vehicles, and particularly relates to a multifunctional intelligent shuttle robot with a compact structure.
Background
The shuttle car mainly has two forms in the storage logistics equipment: the shuttle type warehouse-in and warehouse-out system and the shuttle type warehouse-in system transport goods to a designated place or a transfer facility by a trolley running on a fixed track in a reciprocating or loop-back mode. The intelligent sensing system is equipped, the original point position can be automatically memorized, and the system can automatically decelerate.
At present, different types of goods shelf systems are used for conveying trays and moving material boxes, so that only two types of shuttle cars with different structures can be used, the universality of the shuttle cars is poor, the cost investment of a storage system can be greatly improved due to the large input quantity of the shuttle cars, in addition, the lifting and driving modules used by the shuttle cars are separated, a plurality of groups of different driving systems are needed, the structural design is complex, and the occupied space of a car body is large.
Disclosure of Invention
The invention aims to: the multifunctional intelligent shuttle robot is compact in structure and aims to solve the problems that due to the fact that lifting and driving modules of shuttle vehicles are separately designed when the shuttle vehicles with different structures used for conveying trays and moving material boxes are used, the shuttle vehicles are poor in universality, complex in structural design and large in occupied space of vehicle bodies.
In order to achieve the purpose, the invention adopts the following technical scheme: a multifunctional intelligent shuttle robot with a compact structure comprises a vehicle body, a plurality of first driving wheels, a plurality of second driving wheels, a plurality of groups of jacking turbine mechanisms, a telescopic arm mechanism and two groups of driving mechanisms;
the jacking turbine mechanisms are respectively arranged at four corners of the vehicle body, are symmetrically distributed, and are symmetrically connected through a first shaft lever;
the plurality of first driving wheels are symmetrically distributed on two opposite sides of the vehicle body, two symmetrical first driving wheels are connected through a second shaft rod, the second shaft rod penetrates through the two groups of jacking turbine mechanisms, and the jacking turbine mechanisms drive the second shaft rod to lift;
the second driving wheels are symmetrically distributed on two opposite sides of the vehicle body, the axes of the second driving wheels are perpendicular to the axis of the first driving wheel, the two second driving wheels positioned on the same side of the vehicle body are connected through a third shaft rod, the second driving wheels are connected with the end part of the third shaft rod through a steering box, and the steering box is installed on the vehicle body;
two groups of driving mechanisms are arranged in the vehicle body, the driving mechanisms are connected with the first shaft lever, the second shaft lever and the third shaft lever, and the driving mechanisms drive the first shaft lever to rotate, drive the second shaft lever to rotate and drive the third shaft lever to rotate;
the telescopic arm mechanism is arranged on the vehicle body and is positioned between the two groups of driving mechanisms.
As a further description of the above technical solution:
the first shaft, the second shaft and the third shaft are parallel to each other.
As a further description of the above technical solution:
actuating mechanism includes first motor and two sets of automatically controlled clutches, first motor fixed mounting is in on the automobile body, and is two sets of automatically controlled clutches is installed on the first motor, wherein is a set of automatically controlled clutches passes through synchronous belt drive the primary shaft pole rotates, another group automatically controlled clutches passes through synchronous belt drive the second shaft pole rotates and drives the third shaft pole rotates.
As a further description of the above technical solution:
jacking turbine mechanism includes box, worm, turbine body, screwed pipe, lead screw and lifter plate, box fixed mounting is on the automobile body, the worm articulates in the box, just the worm with the end connection of first axostylus axostyle, the screwed pipe articulates on the box, this body coupling of turbine is in on the screwed pipe, just the turbine body with the worm meshing, the lifter plate slides along the vertical direction and locates in the box, lead screw fixed connection is in on the lifter plate, just the lead screw with the screwed pipe spiro union, the second axostylus axostyle passes the lifter plate, just the second axostylus axostyle articulates on the lifter plate.
As a further description of the above technical solution:
the electric control clutch is connected with the third shaft rod through a synchronous belt, the vehicle body is hinged with a transition shaft, the transition shaft is respectively connected with the second shaft rod and the third shaft rod through the synchronous belt, the vehicle body is provided with a tensioning mechanism, and the tensioning mechanism abuts against the synchronous belt connected with the second shaft rod and the transition shaft.
As a further description of the above technical solution:
the tensioning mechanism comprises a support, a tensioning wheel and a torsional spring, the support is hinged to the vehicle body and located above the transition shaft, the torsional spring is connected to the support and abuts against the vehicle body, the tensioning wheel is hinged to the end of the support and abuts against a synchronous belt connected with the second shaft lever and the transition shaft.
As a further description of the above technical solution:
the telescopic arm mechanism comprises a second motor and a goods taking arm body, the second motor is fixedly installed in the vehicle body, the goods taking arm body is arranged on the vehicle body in a sliding mode, a gear is arranged on the second motor, a rack is arranged on the goods taking arm body, and the gear is meshed with the rack.
As a further description of the above technical solution:
the top surface of getting the goods arm body with the coincidence of automobile body top surface.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the shuttle vehicle, the driving mechanism drives the first driving wheel and the second driving wheel to rotate, the driving mechanism drives the jacking turbine mechanism to lift, so that the vehicle body has four-way movement and lifting functions, the use requirement of carrying a material box is met, meanwhile, the telescopic arm mechanism is arranged on the vehicle body, under the action of the second motor, the goods taking arm body moves along the straight line direction and extends out of one side of the vehicle body, the goods taking arm body can be inserted into the tray, the use requirement of carrying the tray is met, the shuttle vehicle can be suitable for different goods shelf systems, and the shuttle vehicle is high in universality.
2. In the invention, two groups of electric control clutches are connected on a first motor, wherein one group of electric control clutches is connected with a first shaft rod and drives the first shaft rod to rotate, the first shaft rod rotates to drive a jacking turbine mechanism to drive a second shaft rod to lift, thereby driving the first driving wheel to lift, enabling the first driving wheel to prop against the ground and lifting the whole body of the vehicle, driving the second shaft lever and the third shaft lever to rotate by the other group of electrically controlled clutches, thereby driving the first driving wheel and the second driving wheel to rotate, combining the lifting of the first driving wheel, the first driving wheel and the second driving wheel are alternatively propped against the ground, therefore, the vehicle body moves towards four directions, the lifting and driving module is skillfully combined, only the same driving source is needed, the space of the transmission structure occupying the interior of the vehicle body is greatly saved, and the compact design of the whole structure of the vehicle body is facilitated.
Drawings
Fig. 1 is a schematic overall structure diagram of a compact multifunctional intelligent shuttle robot.
Fig. 2 is a reference diagram of a compact multifunctional intelligent shuttle robot in a use state.
Fig. 3 is a schematic diagram of an internal structure of a compact multifunctional intelligent shuttle robot.
Fig. 4 is a schematic diagram of an internal structure of a compact multifunctional intelligent shuttle robot.
Fig. 5 is a partially enlarged view of a portion a in fig. 4.
Fig. 6 is a schematic diagram of the internal structure of a compact multifunctional intelligent shuttle robot.
Fig. 7 is a partially enlarged view of a portion B in fig. 6.
Fig. 8 is a schematic diagram of the internal structure of a compact multifunctional intelligent shuttle robot.
Fig. 9 is a partially enlarged view of a portion C in fig. 8.
Fig. 10 is a partially enlarged view of a portion D in fig. 8.
Fig. 11 is a schematic structural diagram of a telescopic arm mechanism in a compact multifunctional intelligent shuttle robot.
Fig. 12 is a schematic diagram of an internal structure of a jacking turbine mechanism in a multifunctional intelligent shuttle robot with a compact structure.
Fig. 13 is a schematic diagram of an internal structure of a jacking turbine mechanism in the multifunctional intelligent shuttle robot with a compact structure.
Fig. 14 is a reference diagram of the use state of fig. 13.
Fig. 15 is a partial sectional view of a turn box in a compact multifunctional intelligent shuttle robot.
Fig. 16 is a control block diagram of a multifunctional intelligent shuttle robot with a compact structure.
Illustration of the drawings:
1. a vehicle body; 2. a first drive wheel; 3. a second drive wheel; 4. a jacking turbine mechanism; 41. a box body; 42. a worm; 43. a turbine body; 44. a solenoid; 45. a screw rod; 46. a lifting plate; 5. a telescopic arm mechanism; 51. a second motor; 52. a pick arm body; 6. a drive mechanism; 61. a first motor; 62. an electrically controlled clutch; 7. a first shaft lever; 8. a second shaft lever; 9. a third shaft lever; 10. a steering box; 11. a transition shaft; 12. a tensioning mechanism; 121. a support; 122. a tension wheel; 123. a torsion spring; 13. a gear; 14. a rack.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-16, the present invention provides a technical solution: a multifunctional intelligent shuttle robot with a compact structure comprises a vehicle body 1, 4 first driving wheels 2, 4 second driving wheels 3, 4 sets of jacking turbine mechanisms 4, a telescopic arm mechanism 5 and two sets of driving mechanisms 6;
the 4 groups of the jacking turbine mechanisms 4 are respectively arranged at four corners of the vehicle body 1, the 4 groups of the jacking turbine mechanisms 4 are distributed in a pairwise symmetrical manner, and the two symmetrical groups of the jacking turbine mechanisms 4 are connected through a first shaft rod 7;
the 4 first driving wheels 2 are symmetrically distributed on two opposite sides of the vehicle body 1 in pairs, the two symmetrical first driving wheels 2 are connected through a second shaft lever 8, the second shaft lever 8 penetrates through the two groups of jacking turbine mechanisms 4, and the jacking turbine mechanisms 4 drive the second shaft lever 8 to lift;
the 4 second driving wheels 3 are symmetrically distributed on two opposite sides of the vehicle body 1 in pairs, the axes of the second driving wheels 3 are perpendicular to the axis of the first driving wheel 2, the two second driving wheels 3 positioned on the same side of the vehicle body 1 are connected through a third shaft rod 9, the second driving wheels 3 are connected with the end part of the third shaft rod 9 through a steering box 10, and the steering box 10 is installed on the vehicle body 1;
two sets of driving mechanisms 6 are arranged in the vehicle body 1, the driving mechanisms 6 are connected with the first shaft lever 7, the second shaft lever 8 and the third shaft lever 9, and the driving mechanisms 6 drive the first shaft lever 7 to rotate, drive the second shaft lever 8 to rotate and drive the third shaft lever 9 to rotate;
the telescopic boom mechanism 5 is arranged on the vehicle body 1, and the telescopic boom mechanism 5 is positioned between the two groups of driving mechanisms 6;
the first shaft lever 7, the second shaft lever 8 and the third shaft lever 9 are parallel to each other, so that stable transmission is facilitated;
the driving mechanism 6 comprises a first motor 61 and two sets of electric control clutches 62, the first motor 61 is fixedly mounted on the vehicle body 1, the two sets of electric control clutches 62 are mounted on the first motor 61, one set of the electric control clutches 62 drives the first shaft rod 7 to rotate through a synchronous belt, the other set of the electric control clutches 62 drives the second shaft rod 8 to rotate and drive the third shaft rod 9 to rotate through the synchronous belt, corresponding belt wheels are fixedly mounted on the electric control clutches 62, the first shaft rod 7, the second shaft rod 8 and the third shaft rod 9 and used for being connected with the synchronous belt, when the first motor 61 is always in a running state, when one set of the electric control clutches 62 is closed, when the other set of the electric control clutches 62 is opened, the second driving wheel 3 is in a state of contacting the ground, and the second shaft rod 8 and the third shaft rod 9 are in a running state, the first driving wheel 2 and the second driving wheel 3 are in a rotating state, at the moment, the vehicle body 1 moves under the driving action of the second driving wheel 3, when the two electrically controlled clutches 62 are in an open state, the first shaft lever 7, the second shaft lever 8 and the third shaft lever 9 are all in a rotating state, the jacking turbine mechanism 4 drives the second shaft lever 8 to descend under the driving action of the first shaft lever 7, the first driving wheel 2 descends along with the second shaft lever 8, the first driving wheel 2 replaces the second driving wheel 3 to contact the ground, the first driving wheel 2 and the second driving wheel 3 are both in a rotating state, at the moment, the vehicle body 1 moves under the driving action of the first driving wheel 2, therefore, the four-way movement is realized, meanwhile, the overall height of the vehicle body 1 is also raised, the transmission structure is skillfully designed, the space of the transmission structure occupying the interior of the vehicle body 1 is greatly saved, and the overall structure of the vehicle body 1 is conveniently simplified and compactly designed;
the jacking turbine mechanism 4 comprises a box body 41, a worm 42, a turbine body 43, a spiral tube 44, a screw rod 45 and a lifting plate 46, wherein the box body 41 is fixedly installed on the vehicle body 1, the worm 42 is hinged in the box body 41, the worm 42 is connected with the end part of the first shaft rod 7, the spiral tube 44 is hinged on the box body 41, the turbine body 43 is connected on the spiral tube 44, the turbine body 43 is meshed with the worm 42, the lifting plate 46 is arranged in the box body 41 in a sliding mode along the vertical direction, the screw rod 45 is fixedly connected on the lifting plate 46, the screw rod 45 is in threaded connection with the spiral tube 44, the second shaft rod 8 penetrates through the lifting plate 46, the second shaft rod 8 is hinged on the lifting plate 46, the worm 42 is driven to rotate when the first shaft rod 7 rotates, the worm 42 rotates and drives the turbine body 43 to rotate, the worm wheel body 43 rotates to drive the spiral pipe 44 to rotate, the screw rod 45 screwed on the spiral pipe 44 moves because the spiral pipe 44 does not move in the rotating process, the freedom degree of the screw rod 45 is released together with the lifting plate 46 connected with the screw rod 45, so that the lifting plate 46 is driven to vertically slide along the inside of the box body 41, the lifting of the lifting plate 46 drives the second shaft lever 8 to lift, and the transmission mode combining the worm wheel and the spiral pipe 44 is utilized, so that the transmission efficiency is high, the lifting process is stable, the transmission efficiency is high, the noise generated by hydraulic pressure and chain transmission is avoided, and the manufacturing cost is reduced;
the electric control clutch 62 is connected with the third shaft lever 9 through a synchronous belt, a transition shaft 11 is hinged on the vehicle body 1, the transition shaft 11 is respectively connected with the second shaft lever 8 and the third shaft lever 9 through the synchronous belt, a tensioning mechanism 12 is arranged on the vehicle body 1, and the tensioning mechanism 12 abuts against the synchronous belt connected with the second shaft lever 8 and the transition shaft 11; the tensioning mechanism 12 includes a bracket 121, a tensioning wheel 122 and a torsion spring 123, the bracket 121 is hinged to the vehicle body 1, the bracket 121 is located above the transition shaft 11, the torsion spring 123 is connected to the bracket 121, the torsion spring 123 abuts against the vehicle body 1, the tensioning wheel 122 is hinged to an end of the bracket 121, the tensioning wheel 122 abuts against a synchronous belt connecting the second shaft lever 8 and the transition shaft 11, corresponding belt pulleys are fixedly mounted on the transition shaft 11, the belt pulleys are used for being connected with the synchronous belt, the transition shaft 11 is used for respectively connecting the second shaft lever 8 and the third shaft lever 9, when the position of the second shaft lever 8 is changed, the position between the third shaft lever 9 and the transition shaft 11 is inconvenient, the transmission is in a static stable state, the second shaft lever 8 and the transition shaft 11 are in dynamic connection, so that the tightness of the synchronous belt connected between the second shaft lever 8 and the transition shaft 11 is constantly changed, the torsion spring 123 is used for acting the support 121 to rotate and adjust along the vehicle body 1, so that the tension pulley 122 at the end part of the support 121 props against the synchronous belt, the synchronous belt connected between the second shaft lever 8 and the transition shaft 11 is always in a tensioned state, the transmission is in a dynamic and stable state, the transmission effect is good, and the transmission efficiency is high;
the telescopic arm mechanism 5 comprises a second motor 51 and a goods taking arm body 52, the second motor 51 is fixedly mounted in the vehicle body 1, the goods taking arm body 52 is slidably arranged on the vehicle body 1, a gear 13 is arranged on the second motor 51, a rack 14 is arranged on the goods taking arm body 52, the gear 13 is meshed with the rack 14, the second motor 51 rotates to drive the gear 13 to rotate, and the gear 13 drives the rack 14 to move along a straight line, so that the goods taking arm body 52 moves along the straight line and extends out of one side of the vehicle body 1, the goods taking arm body 52 is inserted into a tray, or the goods taking arm body 52 reciprocates to drag a material box to the center of the vehicle body 1, the work of simultaneously carrying the tray and the material box is met, the functionality is strong, and the universality is strong;
the top surface of the goods taking arm body 52 coincides with the top surface of the vehicle body 1, so that the top surface of the vehicle body 1 is flat, and therefore the goods are stably conveyed.
The working principle is as follows: firstly, when the vehicle body 1 needs to move towards one direction, the first motor 61 is always in a running state, one set of the electric control clutches 62 is closed, the other set of the electric control clutches 62 is opened, (a controller can be installed in the vehicle body 1 and is electrically connected with the two electric control clutches 62, the controller plays a role of controlling the on-off of the electric control clutches 62), the second driving wheel 3 is in a state of contacting the ground, the electric control clutches 62 drive the third shaft rod 9 to rotate through a synchronous belt, the third shaft rod 9 drives the transition shaft 11 to rotate through the synchronous belt, the transition shaft 11 drives the second shaft rod 8 to rotate through the synchronous belt, the tensioning mechanism 12 always supports against the synchronous belt connecting the second shaft rod 8 and the transition shaft 11, the second shaft rod 8 rotates to drive the first driving wheel 2 connected with the second shaft rod to rotate, the third shaft rod 9 rotates to drive the steering box 10 to rotate (the steering box 10 adopts a right-angle steering box, used for changing the transmission direction), under the turning function of the steering box 10, the second driving wheel 3 starts to rotate, at the moment, the vehicle body 1 moves under the driving function of the second driving wheel 3, secondly, when the vehicle body 1 needs to be lifted or moves towards another direction, the first motor 61 is always in a running state, the two groups of electric control clutches 62 are both in an opening state, the second driving wheel 3 is in a state of contacting the ground, the electric control clutches 62 drive the third shaft lever 9 to rotate through a synchronous belt, the third shaft lever 9 drives the transition shaft 11 to rotate through the synchronous belt, the transition shaft 11 drives the second shaft lever 8 to rotate through the synchronous belt, the tensioning mechanism 12 always supports against the synchronous belt connecting the second shaft lever 8 and the transition shaft 11, the second shaft lever 8 rotates to drive the first driving wheel 2 connected thereon to rotate, the third shaft lever 9 rotates to drive the steering box 10 to rotate, under the turning function of the steering box 10, the second driving wheel 3 starts to rotate, meanwhile, the electric clutch drives the first shaft rod 7 to rotate through the synchronous belt, the first shaft rod 7 drives the worm 42 to rotate when rotating, the worm 42 rotates and drives the turbine body 43 to rotate, the turbine body 43 rotates and drives the screw tube 44 to rotate, because the screw tube 44 does not move in position during rotation, the screw rod 45 screwed on the screw tube 44 moves, the degree of freedom of the screw rod 45 is released together with the lifting plate 46 connected with the screw rod 45, so that the lifting plate 46 is driven to vertically slide along the box body 41, the lifting of the lifting plate 46 drives the second shaft rod 8 to lift, the first driving wheel 2 descends along with the descending of the second shaft rod 8, at the moment, because the position of the second shaft rod 8 changes, the tightness of the synchronous belt connected between the second shaft rod 8 and the transition shaft 11 constantly changes, the torsion spring 123 acts on the bracket 121 to rotate and adjust along the vehicle body 1, the tensioning wheel 122 at the end of the bracket 121 is abutted against the synchronous belt, the synchronous belt connected between the second shaft lever 8 and the transition shaft 11 is always in a tensioned state, the first driving wheel 2 replaces the second driving wheel 3 to be contacted with the ground, the vehicle body 1 moves under the action of the first driving wheel 2, the whole height of the vehicle body 1 is also lifted, then, when the vehicle body 1 needs to transport a tray, the second motor 51 rotates to drive the gear 13 to rotate, the gear 13 drives the rack 14 to move along the linear direction, so the goods taking arm body 52 moves along the linear direction and extends out of one side of the vehicle body 1, the goods taking arm body 52 is inserted into the tray, finally, when the vehicle body 1 needs to transport conventional packages, the packages are directly placed at the top of the vehicle body 1, in addition, a servo driver can be arranged in the vehicle body 1 and is connected with the first motor 61 and the second motor 51, so that the forward and reverse rotation of the first motor 61 and the second motor 51 can be controlled, then, the rotation direction of the first driving wheel 2, the rotation direction of the second driving wheel 3, the ascending and descending of the lifting plate 46, and the movement direction of the pick arm body 52 can be controlled accordingly.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides a compact structure's multi-functional intelligent shuttle robot which characterized in that: the device comprises a vehicle body (1), a plurality of first driving wheels (2), a plurality of second driving wheels (3), a plurality of groups of jacking turbine mechanisms (4), a telescopic arm mechanism (5) and two groups of driving mechanisms (6);
the multiple groups of jacking turbine mechanisms (4) are respectively arranged at four corners of the vehicle body (1), the multiple groups of jacking turbine mechanisms (4) are symmetrically distributed, and two symmetrical groups of jacking turbine mechanisms (4) are connected through a first shaft lever (7);
the first driving wheels (2) are symmetrically distributed on two opposite sides of the vehicle body (1), the two symmetrical first driving wheels (2) are connected through a second shaft rod (8), the second shaft rod (8) penetrates through the two groups of jacking turbine mechanisms (4), and the jacking turbine mechanisms (4) drive the second shaft rod (8) to lift;
the second driving wheels (3) are symmetrically distributed on two opposite sides of the vehicle body (1), the axes of the second driving wheels (3) are perpendicular to the axis of the first driving wheel (2), the two second driving wheels (3) positioned on the same side of the vehicle body (1) are connected through a third shaft lever (9), the end parts of the second driving wheels (3) and the third shaft lever (9) are connected through a steering box (10), and the steering box (10) is installed on the vehicle body (1);
two groups of driving mechanisms (6) are arranged in the vehicle body (1), the driving mechanisms (6) are connected with the first shaft lever (7), the second shaft lever (8) and the third shaft lever (9), and the driving mechanisms (6) drive the first shaft lever (7) to rotate, the second shaft lever (8) to rotate and the third shaft lever (9) to rotate;
the telescopic arm mechanism (5) is arranged on the vehicle body (1), and the telescopic arm mechanism (5) is positioned between the two groups of driving mechanisms (6).
2. A compact multi-functional intelligent shuttle robot according to claim 1, characterized in that the first shaft (7), the second shaft (8) and the third shaft (9) are parallel to each other.
3. A compact multifunctional intelligent shuttle robot as claimed in claim 1, wherein said driving mechanism (6) comprises a first motor (61) and two sets of electrically controlled clutches (62), said first motor (61) is fixedly mounted on said vehicle body (1), said two sets of electrically controlled clutches (62) are mounted on said first motor (61), one set of said electrically controlled clutches (62) drives said first shaft (7) to rotate through a synchronous belt, and the other set of said electrically controlled clutches (62) drives said second shaft (8) to rotate and drives said third shaft (9) to rotate through a synchronous belt.
4. The compact multifunctional intelligent shuttle robot as claimed in claim 3, wherein the jacking turbine mechanism (4) comprises a box body (41), a worm (42), a turbine body (43), a solenoid (44), a screw rod (45) and a lifting plate (46), the box body (41) is fixedly installed on the vehicle body (1), the worm (42) is hinged in the box body (41), the worm (42) is connected with the end of the first shaft rod (7), the solenoid (44) is hinged on the box body (41), the turbine body (43) is connected on the solenoid (44), the turbine body (43) is meshed with the worm (42), the lifting plate (46) is slidably arranged in the box body (41) along the vertical direction, and the screw rod (45) is fixedly connected on the lifting plate (46), the screw rod (45) is in threaded connection with the screw tube (44), the second shaft lever (8) penetrates through the lifting plate (46), and the second shaft lever (8) is hinged on the lifting plate (46).
5. The compact multifunctional intelligent shuttle robot as claimed in claim 4, wherein the electrically controlled clutch (62) is connected to the third shaft (9) through a synchronous belt, the vehicle body (1) is hinged with a transition shaft (11), the transition shaft (11) is respectively connected to the second shaft (8) and the third shaft (9) through a synchronous belt, the vehicle body (1) is provided with a tensioning mechanism (12), and the tensioning mechanism (12) abuts against the synchronous belt connecting the second shaft (8) and the transition shaft (11).
6. The compact multifunctional intelligent shuttle robot as claimed in claim 5, wherein the tensioning mechanism (12) comprises a bracket (121), a tensioning wheel (122) and a torsion spring (123), the bracket (121) is hinged on the vehicle body (1), the bracket (121) is located above the transition shaft (11), the torsion spring (123) is connected on the bracket (121), the torsion spring (123) abuts against the vehicle body (1), the tensioning wheel (122) is hinged at the end of the bracket (121), and the tensioning wheel (122) abuts against a synchronous belt connecting the second shaft (8) and the transition shaft (11).
7. The compact multifunctional intelligent shuttle robot as claimed in claim 1, wherein the telescopic arm mechanism (5) comprises a second motor (51) and a goods taking arm body (52), the second motor (51) is fixedly installed in the vehicle body (1), the goods taking arm body (52) is slidably arranged on the vehicle body (1), a gear (13) is arranged on the second motor (51), a rack (14) is arranged on the goods taking arm body (52), and the gear (13) is meshed with the rack (14).
8. A compact multi-functional intelligent shuttle robot according to claim 7, characterized in that the top surface of the pick arm body (52) coincides with the top surface of the car body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210388654.0A CN114644189A (en) | 2022-04-12 | 2022-04-12 | Compact structure's multi-functional intelligent shuttle robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210388654.0A CN114644189A (en) | 2022-04-12 | 2022-04-12 | Compact structure's multi-functional intelligent shuttle robot |
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| CN114644189A true CN114644189A (en) | 2022-06-21 |
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| CN202210388654.0A Pending CN114644189A (en) | 2022-04-12 | 2022-04-12 | Compact structure's multi-functional intelligent shuttle robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206776A (en) * | 2023-11-08 | 2023-12-12 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
| CN117902210A (en) * | 2024-02-26 | 2024-04-19 | 安徽海玛智能科技有限公司 | Four-way shuttle with liftable tray |
-
2022
- 2022-04-12 CN CN202210388654.0A patent/CN114644189A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206776A (en) * | 2023-11-08 | 2023-12-12 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
| CN117206776B (en) * | 2023-11-08 | 2024-02-20 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
| CN117902210A (en) * | 2024-02-26 | 2024-04-19 | 安徽海玛智能科技有限公司 | Four-way shuttle with liftable tray |
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